diff options
Diffstat (limited to 'arduino_libs/SerialManager/.svn/text-base/SerialManager.cpp.svn-base')
| -rwxr-xr-x | arduino_libs/SerialManager/.svn/text-base/SerialManager.cpp.svn-base | 197 |
1 files changed, 197 insertions, 0 deletions
diff --git a/arduino_libs/SerialManager/.svn/text-base/SerialManager.cpp.svn-base b/arduino_libs/SerialManager/.svn/text-base/SerialManager.cpp.svn-base new file mode 100755 index 0000000..ed06dbc --- /dev/null +++ b/arduino_libs/SerialManager/.svn/text-base/SerialManager.cpp.svn-base @@ -0,0 +1,197 @@ +/* + SerialManager.cpp - Library for doing packetized serial comm with Arduinos. + Created by Sigurdur Orn, May 23, 2010. + */ + +#include "WProgram.h" +#include "SerialManager.h" +#include "ByteBuffer.h" + + +SerialManager::SerialManager(unsigned int in_buf_size, unsigned int out_buf_size){ + serial_in_checksum = 0; + + incoming_buffer = (ByteBuffer*)malloc(sizeof(ByteBuffer)); + outgoing_buffer = (ByteBuffer*)malloc(sizeof(ByteBuffer)); + temp_buffer = (ByteBuffer*)malloc(sizeof(ByteBuffer)); + + incoming_buffer->init(in_buf_size); + outgoing_buffer->init(out_buf_size); + temp_buffer->init(10); + + byte1 = 0; + byte2 = 0; + byte3 = 0; + byte4 = 0; + + handlePacketFunction = 0; +} + +void SerialManager::init(int serial_port, int baud_rate){ + _serial_port = serial_port; + + if( serial_port == 0) + Serial.begin(baud_rate); +#if defined(__AVR_ATmega1280__) + else if( serial_port == 1) + Serial1.begin(baud_rate); + else if( serial_port == 2) + Serial2.begin(baud_rate); + else if( serial_port == 3) + Serial3.begin(baud_rate); +#endif +} + + + +bool SerialManager::isBusySending(){ + return ( outgoing_buffer->getSize() > 0 ); +} + +// Sends a single byte +int SerialManager::sendSerialByte(byte b){ + return outgoing_buffer->put(b); +} + +// Sends a packet with a header and a checksum +int SerialManager::sendSerialPacket(ByteBuffer* packet_buffer){ + // Copy buffer and calc checksum + byte checksum = 0; + while( packet_buffer->getSize() > 0 ){ + byte b = packet_buffer->get(); + outgoing_buffer->put(b); + checksum += b; + } + + outgoing_buffer->put( checksum ); + outgoing_buffer->put( 1 ); + outgoing_buffer->put( 2 ); + outgoing_buffer->put( 3 ); + outgoing_buffer->put( 4 ); + + return 0; +} + +// Sends a raw packet with no header or checksum +int SerialManager::sendRawSerial(ByteBuffer* packet_buffer){ + while( packet_buffer->getSize() > 0 ){ + byte b = packet_buffer->get(); + outgoing_buffer->put(b); + } + + return 0; +} + +void SerialManager::update(){ + + // If we have received stuff + if( _serial_port == 0 ){ + while( Serial.available() != 0 ) { + byte incoming = Serial.read(); + handleIncomingByte(incoming); + } + } + +#if defined(__AVR_ATmega1280__) + else if( _serial_port == 1 ){ + while( Serial1.available() != 0 ) { + byte incoming = Serial1.read(); + handleIncomingByte(incoming); + } + } + else if( _serial_port == 2 ){ + while( Serial2.available() != 0 ) { + byte incoming = Serial2.read(); + handleIncomingByte(incoming); + } + } + else if( _serial_port == 3 ){ + while( Serial3.available() != 0 ) { + byte incoming = Serial3.read(); + handleIncomingByte(incoming); + } + } +#endif + + + // If we should be sending stuff + if( outgoing_buffer->getSize() > 0 ){ + // If serial port not currently busy + if( _serial_port == 0 ) + if(((UCSRA) & (1 << UDRE)) ) Serial.write( outgoing_buffer->get() ); + +#if defined(__AVR_ATmega1280__) + else if( _serial_port == 1 ) + if(((UCSRA1) & (1 << UDRE1)) ) Serial1.write( outgoing_buffer->get() ); + else if( _serial_port == 2 ) + if(((UCSRA2) & (1 << UDRE2)) ) Serial2.write( outgoing_buffer->get() ); + else if( _serial_port == 3 ) + if(((UCSRA3) & (1 << UDRE3)) ) Serial3.write( outgoing_buffer->get() ); +#endif + } +} + +void SerialManager::setPacketHandler(void (*packetHandlerFunction)(ByteBuffer*)){ + handlePacketFunction = packetHandlerFunction; +} + + +void SerialManager::handleIncomingByte(byte incoming){ + + // If buffer overflows then reset (we could do something smarter here) +// if( incoming_buffer->getSize() == incoming_buffer->getCapacity() ){ +// incoming_buffer->clear(); +// } + + incoming_buffer->put( incoming ); + serial_in_checksum += incoming; + + byte1 = byte2; + byte2 = byte3; + byte3 = byte4; + byte4 = incoming; + + // If we have a full packet ready + if( byte1==1 && byte2==2 && byte3==3 && byte4==4 ){ + // Remove header from buffer + incoming_buffer->getFromBack(); + incoming_buffer->getFromBack(); + incoming_buffer->getFromBack(); + incoming_buffer->getFromBack(); + + byte checksum_received = incoming_buffer->getFromBack(); + + // Remove the whole header from the calculated checksum + serial_in_checksum -= checksum_received + 10; + + // If checksums don't match, then do something () + if( checksum_received != serial_in_checksum ){ + temp_buffer->clear(); + temp_buffer->put(123); + temp_buffer->put(234); + temp_buffer->put( checksum_received ); + temp_buffer->put( serial_in_checksum ); + sendSerialPacket(temp_buffer); + } + + // We have a successful packet + else{ + + if( handlePacketFunction != 0 ) + handlePacketFunction(incoming_buffer); + else + handlePacketDefault(incoming_buffer); + } + + // Clear variables + incoming_buffer->clear(); + serial_in_checksum = 0; + } + +} + +void SerialManager::handlePacketDefault(ByteBuffer* packet){ + // We could do something here like send the data to the host again for debug + // Or just do nothing + return; +} |